120 citations · 647 across the 69 of their papers we have counts for
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Efficient Nearest-Neighbor Search for Dynamical Systems with Nonholonomic Constraints
Valerio Varricchio, Brian Paden, Dmitry Yershov +1
Nearest-neighbor search dominates the asymptotic complexity of sampling-based motion planning algorithms and is often addressed with k-d tree data structures. While it is generally…
Switching and Data Injection Attacks on Stochastic Cyber-Physical Systems: Modeling, Resilient Estimation and Attack Mitigation
Sze Zheng Yong, Minghui Zhu, Emilio Frazzoli
In this paper, we consider the problem of attack-resilient state estimation, that is to reliably estimate the true system states despite two classes of attacks: (i) attacks on the…
Landmark Guided Probabilistic Roadmap Queries
Brian Paden, Yannik Nager, Emilio Frazzoli
A landmark based heuristic is investigated for reducing query phase run-time of the probabilistic roadmap (\PRM) motion planning method. The heuristic is generated by storing minim…